TurtleZhong

Map-based-Visual-Localization

A general framework for map-based visual localization. It contains 1) Map Generation which support traditional features or deeplearning features. 2) Hierarchical-Localizationvisual in visual(points or line) map. 3)Fusion framework with IMU, wheel odom and GPS sensors.

AVP-SLAM-SIM

A basic implementation(not official code) of AVP-SLAM(IROS 2020) in simulation. https://arxiv.org/abs/2007.01813

hfnet_ros

A cpp or ROS Warpper of HF-NET inference part (https://github.com/ethz-asl/hfnet)

ESKF-All-in-One-Open

Error State Kalman Filter All in One, from Theory to Practice.

avp-bev-open

A pkg stiching around view images(4-6cameras) to generate bird's eye view.

vins_notes

vins-mono初始化部分详细教程

lili-om

LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.

encoder_imu_ekf_ros

ROS package to fuse together IMU and wheel encoders in an EKF. Implemented in both C++ and Python. C++ version runs in real time.

PlaneDetection

Implementation of my article "A Robust Statistics Approach for Plane Detection in Unorganized Point Clouds"

champ

𓃡 Quadruped Robot based on MIT Cheetah I

LVI-SAM

LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping

Python-VO

A simple python implemented frame-by-frame visual odometry with SuperPoint feature detector and SuperGlue feature matcher.

Sensor-Fusion

Sensor Fusion for Localization & Mapping

tuw_multi_robot

uav_frontier_exploration_3d

cpr_gazebo

hfnet

From Coarse to Fine: Robust Hierarchical Localization at Large Scale with HF-Net (https://arxiv.org/abs/1812.03506)

kapture

kapture is a file format as well as a set of tools for manipulating datasets, and in particular Visual Localization and Structure from Motion data.

lcd

Line Clustering and Description for Place Recognition

lili_om_noted

multi_robot_coordination

"Multi-robot Coordination with Agent-Server Architecture for Autonomous Navigation in Partially Unknown Environments", IROS 2020

pluto_robot

ROS driver for the Pluto robot

share_files

just share files

sparse_rgbd_vo

Sparse RGB-D visual odometry ROS package

stim300

Driver library for the STIM300 Inertial Measurement Unit (IMU) from Sensonor.

sun_sensor

Absolute Heading Determination Using Sun Sensor

sunsensor_pose_estimation

Absolute heading determination method fora lunar rover based on sun sensors and accelerometers

tqdm.cpp

C++ port of tqdm

TurtleZhong

About me.

TurtleZhong.github.io